JP6984973B2 - Vehicle-to-vehicle distance control system - Google Patents

Description

The present invention relates to an inter-vehicle distance control system.

A group of platooning vehicles may be composed of a plurality of vehicles each having a platooning control device capable of performing platooning control. In the platoon running control, the running information of the leading vehicle among a plurality of vehicles is transmitted to the following vehicle, which is a vehicle behind the leading vehicle constituting the platoon, by the vehicle-to-vehicle communication device, and the vehicle running control device of the following vehicle receives the information. It is a control to run a plurality of vehicles as a group, that is, a group of platooning vehicles while maintaining a constant distance between adjacent vehicles based on the traveling information from the leading vehicle (see, for example, Patent Document 1). ..

Japanese Patent No. 5195930

By the way, each vehicle in one platooning vehicle group may have the same traveling route from the starting point to the registered destination point, or may partially match. In a platooning vehicle group in which a part of the traveling route is the same, a vehicle that has reached a point where the traveling route does not match with another vehicle in the platooning vehicle group is separated from the platooning vehicle group, and the purpose is to travel alone. The rest of the travel route will be traveled to the point.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an inter-vehicle distance control system capable of reducing energy consumption when the own vehicle travels to a destination point. do.

In order to achieve the above object, the vehicle-to-vehicle distance control system according to the present invention includes a vehicle traveling device that controls the traveling state of the own vehicle, a vehicle-to-vehicle communication device that transmits / receives information between surrounding vehicles, and the above-mentioned vehicle-to-vehicle communication device. Adjacent based on the travel route information generation device that generates travel route information from the departure point of the own vehicle to the registered destination point and the information of the vehicle adjacent to the own vehicle at least received by the vehicle-to-vehicle communication device. The vehicle is provided with a plurality of vehicles having a platooning control device for controlling the vehicle traveling device so as to travel in a platoon with the vehicle, and the traveling route information is at least in the middle of the plurality of vehicles. At least one platooning vehicle group is composed of the plurality of vehicles that match up to, and the platooning control device for one of the platooning vehicle groups is present on the road on which the own vehicle is currently traveling. The platooning operation information including the traveling route information in a plurality of the vehicles constituting the other platooning vehicle group is acquired, and at least based on the traveling route information of the own vehicle, the current platooning vehicle group platoon If it is determined that the acquired platooning operation information is superior to the traveling operation information, the vehicle joins another platooning vehicle group to perform platooning control , and the current platooning vehicle group From the platooning operation information, it is determined from the current platooning vehicle group, the current distant coincidence point, which is the farthest point in the traveling route where the traveling route of another vehicle and the traveling route of the own vehicle match. Then, from the platooning operation information of the other platooning vehicle group, the farthest of the traveling routes in which the traveling routes of the plurality of the vehicles of the other platooning vehicle group and the traveling route of the own vehicle match. It is characterized in that it determines to join the other platooning vehicle group when it is determined that the predicted distant coincidence point, which is the point of And.

In the vehicle-to-vehicle distance control system, the road may be a vehicle-only road, and the travel route information may include an exit passing through the vehicle-only road.

In the vehicle-to-vehicle distance control system according to the present invention, the current platooning vehicle group platooning operation information is compared with the platooning operation information of another platooning vehicle group based on the traveling route of the own vehicle, and other If it is determined that the platooning operation information of the platooning vehicle group is superior to the platooning operation information of the current platooning vehicle group, it is possible to join another platooning vehicle group, so that the platooning is extended. This has the effect of being able to run with reduced energy consumption.

FIG. 1 is a block diagram of a vehicle in the vehicle-to-vehicle distance control system according to the embodiment. FIG. 2 is a diagram showing a configuration example of a road on which a group of platooning vehicles travels. FIG. 3 is a detailed explanatory view of the road on which the platooning vehicle group travels. FIG. 4 is a diagram showing an operation flow of the vehicle-to-vehicle distance control system according to the embodiment.

Hereinafter, embodiments of the vehicle-to-vehicle distance control system according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, the components in the following embodiments include those easily conceivable by those skilled in the art or substantially the same. In addition, the components in the following embodiments may be omitted, replaced, or modified in various ways without departing from the gist of the invention.

[Embodiment]
The vehicle-to-vehicle distance control system according to the embodiment will be described. FIG. 1 is a block diagram of a vehicle in the vehicle-to-vehicle distance control system according to the embodiment. FIG. 2 is a diagram showing a configuration example of a road on which a group of platooning vehicles travels. FIG. 3 is a detailed explanatory view of the road on which the platooning vehicle group travels. As shown in FIGS. 1 and 3, the vehicle-to-vehicle distance control system 1 according to the present embodiment includes a plurality of vehicles 2.

The plurality of vehicles 2 are vehicles in which platooning control is performed by the platooning control device 27 described later, and platooning can be performed as a group of platooning vehicles. As shown in FIG. 1, the vehicle 2 includes an operation device 21, a vehicle travel device 22, a DCM 23, a vehicle external sensor 24, a GPS 25, a travel route information generation device 26, and a platoon travel control device 27. Have. The vehicle 2 in the present embodiment will be described as an example of a truck capable of performing platooning control by the platooning control device 27, but if it has the configuration of the vehicle 2, it is larger than a passenger car or a truck. It may be a large vehicle or the like, and the vehicle type and grade may be different.

The operation device 21 is operated by the driver 28 in order to manually drive the vehicle 2. The operating device 21 includes a steering 21a, an accelerator pedal 21b, and a brake pedal 21c. The steering 21a is rotatably supported, and the driver 28 rotates the vehicle 2 by hand to turn the vehicle 2, and changes the steering angle of the steering wheels (mainly the front wheels) of the vehicle 2. do. The steering angle of the steering 21a is detected by a rotation angle sensor (not shown). The accelerator pedal 21b is swingably supported, and when the driver 28 steps on it with his legs, the vehicle 2 is accelerated to move the vehicle 2 forward and backward, and the driving wheels of the vehicle 2 (mainly, It changes the driving force of the front wheels or the rear wheels). The accelerator pedal 21b detects the accelerator depression amount by a depression amount sensor (not shown). The brake pedal 21c is swingably supported, and when the driver 28 steps on it with his / her legs, the vehicle 2 is decelerated / stopped, and the braking force of all the wheels of the vehicle 2 is changed. The brake pedal 21c has a brake depression amount detected by a depression amount sensor (not shown). The operation device 21 is connected to the platooning control device 27 via the vehicle traveling device 22, and travels in a platoon with an operation amount capable of controlling the traveling of the vehicle 2 such as a steering angle, an accelerator depression amount, and a brake depression amount. Output to the control device 27.

The vehicle traveling device 22 is for traveling the vehicle 2, and has a steering device 22a, a driving device 22b, and a braking device 22c. The steering device 22a is a steering device that changes the steering angle of the steering wheel of the vehicle 2 by, for example, a steering actuator such as a motor. The drive device 22b generates a driving force on the drive wheels of the vehicle 2. For example, the drive wheels generate a drive force from a single engine, a single rotary electric machine, or a drive source or a drive source of the engine and the rotary electric machine. It has a transmission etc. to transmit to. The braking device 22c is, for example, a hydraulic braking device that brings the brake pad into contact with the brake rotor by the hydraulic pressure generated by the braking actuator. The vehicle traveling device 22 is a steering device in which an operating amount such as a steering angle, an accelerator depression amount, and a brake depression amount is directly or connected to the steering 21a, the accelerator pedal 21b, and the brake pedal 21c via a platooning control device 27. It is input to 22a, the driving device 22b, and the braking device 22c, respectively. The vehicle traveling device 22 performs steering control, drive control, and braking control of the steering device 22a, the driving device 22b, and the braking device 22c, respectively, based on the amount of operation.

The DCM23 is a data communication module and a wireless communication functional component, which wirelessly connects the vehicle 2 and the outside of the vehicle and transmits / receives information between the vehicle 2 and the outside of the vehicle. The DCM23 communicates with a communication device outside the vehicle by wide area radio and narrow area radio. The wide area radio system is, for example, radio (AM, FM), TV (UHF, 4K, 8K), TEL, GPS, WiMAX (registered trademark) and the like. Further, the narrow range wireless system is, for example, ETC / DSRC, VICS (registered trademark), wireless LAN, millimeter wave communication, or the like. The DCM23 in the present embodiment functions as a vehicle-to-vehicle communication device for transmitting and receiving information with and from a vehicle 2 traveling around any one vehicle 2 (hereinafter, simply referred to as "own vehicle 2M"). That is, the vehicle 2 can send and receive information to and from the vehicle 2 traveling in a platoon or the vehicle 2 traveling alone. The DCM 23 also functions as a network communication device for transmitting and receiving information to and from the server 200 via the network 100 on which the vehicle 2 can wirelessly communicate. The DCM23 is connected to the platooning control device 27, and information input to the platooning control device 27, for example, vehicle information such as speed and operation amount related to the running state of the own vehicle 2M, position information described later, and a destination point. It is possible to transmit information, running information such as running route information, platooning running information to be described later in the case of forming a platooning vehicle group, and the like to the surrounding vehicle 2 and the server 200. Further, the DCM 23 can receive the vehicle information, the traveling information, the platooning information, and the like of the surrounding vehicle 2 and output the vehicle information to the platooning control device 27.

The vehicle external sensor 24 detects a situation outside the vehicle, that is, a situation around the vehicle. The vehicle external sensor 24 is, for example, a camera, a millimeter wave radar, an infrared radar, or the like, and detects an image of the vehicle surroundings, a relative positional relationship between the own vehicle 2M and the surrounding vehicles 2 and obstacles, and the like. .. The vehicle external sensor 24 is connected to the platooning control device 27, and outputs the detected vehicle peripheral condition to the platooning control device 27 as vehicle peripheral information.

The GPS 25 detects the current position of the vehicle 2. The GPS 25 is connected to the travel route information generation device 26, and outputs the detected current position of the vehicle 2 to the travel route information generation device 26 as position information.

The travel route information generation device 26 generates travel route information from the current position of the own vehicle 2M to the registered destination point. The hardware configuration of the travel route information generator 26 is known and includes a CPU, ROM, RAM, and an interface. The travel route information generation device 26 in the present embodiment registers the input destination point by the driver 28 operating a touch panel (not shown) provided in the room at the departure point of the own vehicle 2M. .. The travel route information generation device 26 stores map information in a storage unit (not shown), and travels on the road in the map information based on the position information acquired by the GPS 25 and the destination point information from the current position. It generates travel route information that can connect to a destination point. When the vehicle-only road 300 described later is included as the road on which the own vehicle 2M travels, the travel route information includes exits (A1 to B3) passing through the vehicle-only road 300. Here, the exits (A1 to B3) are for the own vehicle 2M to move from the motorway 300 to the general road. The travel route information generation device 26 is connected to the platoon travel control device 27, and outputs travel route information to the platoon travel control device 27. The travel route information is displayed on a display unit (not shown) and can be visually recognized by the driver 28.

The platoon running control device 27 controls the running state of the own vehicle 2M by controlling the vehicle running device 22. The hardware configuration of the platooning control device 27 is known and is an electronic control unit including a CPU, ROM, RAM and an interface. The platooning control device 27 may be composed of one electronic control unit or a plurality of electronic control units. Further, the platooning control device 27 may be one control device including the travel route information generation device 26. The platooning control device 27 displays, for example, the platooning control state (start of platooning, end of platooning, running in platoon) on the display unit so that at least the driver 28 of the vehicle 2 recognizes it.

The platooning control device 27 performs platooning control based on the information of the vehicle 2 adjacent to at least the own vehicle 2M received by the DCM23. Here, the platooning control means that a plurality of adjacent vehicles 2 are lined up in the front-rear direction (traveling direction) to form a group of platoons, and the platoon maintains the target inter-vehicle distance (distance between platooning vehicles) and the target inter-vehicle time. However, it is a control process in which the following vehicle is made to follow the leading vehicle among the plurality of vehicles 2 and traveled in a platoon.

The control target values such as the target inter-vehicle distance and the target inter-vehicle time of the platooning control by the platooning control device 27 are received from, for example, vehicle information, vehicle peripheral information, and another vehicle 2 different from the own vehicle 2M of the platooning vehicle group. It is calculated based on the required information required for platooning control such as information. In this case, the platooning control device 27 may perform platooning control by, for example, calculating the operation amount based on the request information and controlling the vehicle travel device 22 based on the operation amount. Further, the platooning control device 27 is, for example, in a platooning control device 27 of a preset master vehicle of the platooning vehicle group, that is, the leading vehicle 2 (hereinafter, simply referred to as “leading vehicle 2T”) in the present embodiment. The platooning control may be performed based on the operation amount of each vehicle 2 constituting the platooning vehicle group calculated collectively. In this case, the platooning control device 27 of the leading vehicle 2T operates the operation amount for each vehicle 2 based on the request information (including information received from all of the other vehicles 2 different from the leading vehicle 2T in the platooning vehicle group). Is collectively calculated, and the calculated operation amount for each vehicle 2 is transmitted to the platooning control device 27 of each vehicle 2 as platooning control information. Each platooning control device 27 that has received the platooning control information may perform platooning control by controlling the vehicle traveling device 22 based on the operation amount included in the platooning control information. That is, in the platooning vehicle group composed of the plurality of vehicles 2, the platooning control device 27 of each vehicle 2 cooperates with each other, and according to the traveling state of the leading vehicle 2T, the platooning vehicle group is in front of the platooning vehicle group. The platooning may be realized by controlling the running state of the following vehicle, which is the vehicle 2 traveling behind, according to the running state of the leading vehicle, which is the traveling vehicle 2, or the platooning control of the leading vehicle 2T. The platooning may be realized by the platooning control device 27 of the other vehicles 2 other than the leading vehicle 2T of the platooning vehicle group being comprehensively managed and cooperated with each other by the device 27.

In platooning by a plurality of vehicles 2 including the own vehicle 2M, it is possible to reduce the air resistance of the following vehicle following the leading vehicle by reducing the distance between the vehicles so that the target vehicle-to-vehicle distance and the target vehicle-to-vehicle time are reached. It can improve the fuel efficiency of the following vehicle and also help alleviate traffic congestion. The platooning realized by the platooning control device 27 performing the platooning control may be performed by controlling the running state of the vehicle 2 according to the manual driving by the driver 28 of the vehicle 2. However, it may be performed by automatically controlling the running state of the vehicle 2 in parallel with the manual driving by the driver 28, or the running state of the vehicle 2 is fully automatically controlled without the manual driving by the driver 28. May be controlled. For example, in platooning, the leading vehicle 2T of the platoon is controlled by the driver 28 by manual driving, and all the following vehicles of the other vehicle 2 different from the leading vehicle 2T in the platooning vehicle group are the drivers. The traveling state may be controlled automatically in parallel with the manual operation by the 28, or completely automatically without the manual operation by the driver 28.

Here, the platooning control device 27 generates platooning operation information including a destination point, a traveling route information, a resting point, a cruising speed, and the like of each vehicle 2. In the vehicle-to-vehicle distance control system 1 of the present embodiment, the platooning operation information is generated by the platooning control device 27 of the leading vehicle 2T in the platooning vehicle group. Further, the platooning control device 27 of the own vehicle 2M provides platooning operation information including travel route information in a plurality of vehicles 2 constituting another platooning vehicle group existing on the road where the own vehicle 2M is currently traveling. It is what you get. The platooning control device 27 of the own vehicle 2M obtains the platooning operation information of the current platooning vehicle group and the platooning operation information of the other acquired platooning vehicle group based on the traveling route information of the own vehicle 2M. By comparing, it is determined which platooning operation information is superior in the own vehicle 2M. The platooning control device 27 of the own vehicle 2M in the present embodiment travels between the traveling route of the other vehicle 2 and the own vehicle 2M in the current platooning vehicle group from the platooning operation information of the current platooning vehicle group. In the travel route that matches the route, the current distant coincidence point, which is the farthest point, is determined, and the travel route of the plurality of vehicles 2 of the other platoon traveling vehicle group is determined from the platoon traveling operation information of the other platoon traveling vehicle group. If the predicted distant coincidence point, which is the farthest point, is determined among the travel routes that match the travel route with the own vehicle 2M, and it is determined that the predicted distant coincidence point is farther than the current distant coincidence point, another Decide to join the platooning vehicle group.

The start condition of the platooning control is, for example, a state in which the other vehicle 2 which is a candidate for the platooning vehicle group can transmit and receive information to and from the own vehicle 2M which is a candidate for the platooning vehicle group. That there is, that the other vehicle 2 is close to a predetermined position (for example, a position where the relative distance, the relative speed, the TTC, etc. are equal to or less than the threshold value) with respect to the traveling direction with respect to the own vehicle 2M, and that the own vehicle 2M has. The combination of the vehicle identification information and the vehicle identification information of the other vehicle 2 can form a platoon with each other, and the manual operation of at least one of the driver 28 of the own vehicle 2M and the other vehicle 2 Various known conditions may be used in combination, such as the operation of starting the platooning according to the operation. When the start condition of the platooning control is satisfied, the platooning control device 27 of the own vehicle 2M transmits information including the platooning start information to the effect that the platooning is started to the other vehicle 2 via, for example, the DCM23. , The platoon running control may be started to join the own vehicle 2M to the platoon. Further, when the platooning control device 27 of the own vehicle 2M receives information including the platooning start information indicating that the platooning starts from the leading vehicle 2T of the platooning vehicle group via the DCM23, the platooning control device 27 performs the platooning control. You may start and join the own vehicle 2M to the platooning vehicle group.

On the other hand, the end condition of the platooning process is, for example, that the own vehicle 2M and another vehicle 2 in the same platooning vehicle group cannot transmit and receive information to each other. For the manual operation of the driver 28 of the own vehicle 2M that the other vehicle 2 is separated from the vehicle 2M to a predetermined position (for example, a position where the relative distance, the relative speed, the TTC, etc. exceed the threshold value) with respect to the traveling direction. Various known conditions such as the operation of canceling the platooning may be used in combination. When the end condition of the platooning control is satisfied, the platooning control device 27 of the own vehicle 2M is, for example, a group of platooning vehicles that includes information including the platooning cancellation information to cancel the platooning via the DCM23. It may be transmitted to the vehicle 2 of the above, and the platoon running control may be terminated so that the own vehicle 2 is separated from the platoon. Further, when the platooning control device 27 receives information including platooning cancellation information for canceling platooning from a preset master vehicle of the platooning via DCM23, among a plurality of platooning vehicle groups. , The platoon running control may be terminated and the own vehicle 2M may be separated from the platoon.

Next, the operation of the vehicle-to-vehicle distance control system 1 in the present embodiment will be described. FIG. 4 is a diagram showing an operation flow of the vehicle-to-vehicle distance control system according to the embodiment. In the present embodiment, a case where the own vehicle 2M that is a member of the current platooning vehicle group P1 leaves the platooning vehicle group P1 and joins another platooning vehicle group P2 will be described. As shown in FIG. 2, the road is an automobile-only road 300, and the main line 301 is connected to the branch line 302 at a branch point J on the way. In the main line 301, when the start point is A0, there are a plurality of exits A1 to A3 up to the branch point J, and at least the exits A4 to A6 are located farther than the branch point J. On the other hand, the branch line 302 has at least exits B1 to B3 when the branch point J is the starting point.

As shown in FIG. 3, the motorway 300 is composed of a plurality of lanes L1 to L3, and a plurality of vehicles 2 are traveling. In this embodiment, a plurality of vehicles 2 between the exit A1 and the exit A2 of the motorway 300 will be described. In each travel route information generation device 26 of the plurality of vehicles 2, travel routes that pass through the exits A3, A4, A6, B1, B2, B3 of the motorway 300 are generated. A platooning vehicle group P1 composed of a plurality of vehicles 2 is platooning in the lane L1, and a platooning vehicle group P2 composed of a plurality of vehicles 2 is platooning in the lane L2. A plurality of vehicles 2 are traveling independently in the lane L3. The platooning vehicle group P1 is composed of four vehicles 2 including the leading vehicle 2T and the own vehicle 2M. The leading vehicle 2T is a traveling route passing through the exit A6, the own vehicle 2M which is a following vehicle of the leading vehicle 2T is a traveling route passing through the exit B2, and the vehicle 2 which is a following vehicle of the own vehicle 2M passes through the exit A4. The vehicle 2 which is a traveling route to pass through and is a following vehicle of the vehicle 2 of the traveling route passing through the exit A4 is a traveling route passing through the exit A3. That is, in the platooning vehicle group P1, one vehicle 2 is separated at the exit A3, one vehicle 2 is separated at the exit A4, the own vehicle 2M is separated at the branch point J, and the platooning is performed. The platooning of the vehicle group P1 is eliminated. After that, the leading vehicle 2T travels independently on the main line 301 and moves from the motorway 300 to the general road at the exit A6. Further, if the own vehicle 2M does not join the other platooning vehicle group P2, the own vehicle 2M will independently travel on the branch line 302. The platooning vehicle group P2 is composed of three vehicles 2 including the leading vehicle 2T. The leading vehicle 2T is a traveling route that passes through the exit B3, and the vehicle 2 that is a following vehicle of the leading vehicle 2T is a traveling route that passes through the exit B1 and is a following vehicle of the vehicle 2 that is a traveling route that passes through the exit B1. The vehicle 2 is a traveling route passing through the exit B1. That is, if the own vehicle 2M does not join the platooning vehicle group P2, the platooning vehicle group P2 enters the branch line 302 from the main line 301 at the branch point J, and the two vehicles 2 leave at the exit B1. The platooning of is eliminated. After that, the leading vehicle 2T travels independently on the branch line 302 and moves from the motorway 300 to the general road at the exit B3.

First, as shown in FIG. 4, the platooning control device 27 of the own vehicle 2M determines whether or not the platooning is in progress (step ST1). Here, the platooning control device 27 determines whether or not the platooning control is performed.

Next, the platooning control device 27 of the own vehicle 2M determines that the platooning is in progress (step ST1: Yes), and determines whether or not another platooning vehicle group P2 is detected (step ST2 :). Yes). Here, the platoon running control device 27 is the current platoon by DCM23, either directly by vehicle-to-vehicle communication or indirectly based on the position information of another vehicle 2 stored in the server 200 via the network 100. By determining whether or not another platooning vehicle group P2 exists on the main line 301 on the main line 301 where the traveling vehicle group P1 (own vehicle 2M) is currently traveling, another platooning vehicle group It is determined whether or not P2 is detected. In the present embodiment, it is determined whether or not there is another platooning vehicle group around the own vehicle 2M among the other platooning vehicle groups existing on the main line 301. This is because even if it is another group of platooning vehicles existing on the main line 301, it is difficult for the own vehicle 2M to join another group of platooning vehicles if it is too far from the own vehicle 2M. Become. Therefore, for example, when another platooning vehicle group is running, the other platooning vehicle group existing at a position several kilometers to several hundred meters away from the own vehicle 2M is targeted for detection. If another platooning vehicle is stopped in the service area on the main line 301, it will stop in the service area farther than the position of the main line 301 where the current platooning vehicle group P1 is traveling. Other platooning vehicles are targeted for detection. When the platooning control device 27 determines that the platooning is not in progress (step ST1: No), the platooning control device 27 repeats step ST1 until the own vehicle 2M is in platooning.

Next, when the platooning control device 27 of the own vehicle 2M determines that another platooning vehicle group P2 has been detected (step ST2: Yes), the platooning operation information is acquired (step ST3). Here, the platooning control device 27 acquires the platooning operation information possessed by the leading vehicle 2T of the other platooning vehicle group P2. That is, the platooning control device 27 acquires the traveling route of each vehicle 2 of the other platooning vehicle group P2. When the platooning control device 27 determines that the other platooning vehicle group P2 is not detected (step ST2: No), the platooning control device 27 repeats step ST2 until the other platooning vehicle group P2 is detected.

Next, the platooning control device 27 of the own vehicle 2M determines whether or not the platooning operation information of the other platooning vehicle group P2 is superior to the platooning operation information of the current platooning vehicle group P1. (Step ST4). Here, the platooning control device 27 determines whether or not the expected distant coincidence point is farther than the current distant coincidence point.

Next, when the platooning control device 27 of the own vehicle 2M determines that it is superior (step ST4: Yes), it requests to join another platooning vehicle group P2 (step ST5). Here, the platooning control device 27 requests the leading vehicle 2T of the other platooning vehicle group P2 to join via the DCM23. When the platooning control device 27 of the own vehicle 2M determines that it is not superior (step ST4: No), the platooning control device 27 in the platooning vehicle group P1 does not separate the own vehicle 2M from the current platooning vehicle group P1. (Step ST11).

Next, the platooning control device 27 of the other platooning vehicle group P2 determines whether or not to permit joining (step ST6). Here, the platooning control device 27 of the leading vehicle 2T of the other platooning vehicle group P2 determines whether or not the own vehicle 2M can be joined. The platooning control device 27 of the leading vehicle 2T currently determines whether or not the vehicle 2 can be joined in the other platooning vehicle group P2.

Next, when the platooning control device 27 of the own vehicle 2M determines that the joining is permitted by the platooning control device 27 of the other platooning vehicle group P2 (step ST6: Yes), the current platooning vehicle group P1 Request withdrawal from (step ST7). Here, the platooning control device 27 requests the leading vehicle 2T of the current platooning vehicle group P1 to leave via the DCM23. When the platooning control device 27 of the own vehicle 2M determines that joining is not permitted by the platooning control device 27 of the other platooning vehicle group P2 (step ST6: No), the current platooning vehicle group P1 Maintain platooning control (step ST11).

Next, the platooning control device 27 of the current platooning vehicle group P1 determines whether or not to allow withdrawal (step ST8). Here, the platooning control device 27 of the leading vehicle 2T of the current platooning vehicle group P1 determines whether or not the own vehicle 2M can be separated. The platooning control device 27 of the leading vehicle 2T currently determines whether or not the vehicle 2 can be separated from the platooning vehicle group P1.

Next, when the platooning control device 27 of the own vehicle 2M determines that the withdrawal is permitted by the platooning control device 27 of the current platooning vehicle group P1 (step ST8: Yes), another platooning vehicle group P2 It is determined whether or not it is possible to subscribe to (step ST9). Here, the platooning control device 27 determines whether or not the own vehicle 2M can join another platooning vehicle group P2. If the platooning control device 27 determines that the withdrawal is not permitted (step ST8: No), the platooning control device 27 repeats step ST8 until the withdrawal is permitted.

Next, when the platooning control device 27 of the own vehicle 2M determines that it is possible to join the other platooning vehicle group P2 (step ST9: Yes), the current platooning vehicle group P1 to another platooning vehicle group Join P2 (step ST10). Here, when the driver 28 of the own vehicle 2M is permitted to join, for example, the lane L1 in which the current platooning vehicle group P1 is traveling is changed to the lane in which another platooning vehicle group P2 is traveling. After the other platooning vehicle group P2 passes through the own vehicle 2M, the lane is changed to L2, the lane is changed to follow the tail end of the other platooning vehicle group P2, and the platooning control is started. When the platooning control device 27 determines that the joining is impossible (step ST9: No), the platooning control device 27 repeats the step ST9 until the joining becomes possible.

As described above, in the vehicle-to-vehicle distance control system 1 according to the present embodiment, the expected distant coincidence point corresponding to the other platooning vehicle group P2 is the current platooning vehicle group by the platooning control device 27 of the own vehicle 2M. If it is farther than the current distant coincidence point corresponding to P1 and it is judged that the platooning operation information of the other platooning vehicle group P2 is superior to the platooning operation information of the current platooning vehicle group P1, the own vehicle The 2M is separated from the current platooning vehicle group P1 and joined to another platooning vehicle group P2. Therefore, the own vehicle 2M that has joined the other platooning vehicle group P2 travels in a platoon farther in the traveling route of the own vehicle 2M as compared with the case where the platooning vehicle group P1 that has left the platooning vehicle group P1 maintains the platooning. It can be performed. As a result, in the vehicle-to-vehicle distance control system 1 according to the present embodiment, the platooning of the own vehicle 2M can be extended, and the traveling with reduced energy consumption can be performed.

Further, in the vehicle-to-vehicle distance control system 1 according to the present embodiment, since it is on the motorway 300 that the own vehicle 2M joins the other platooning vehicle group P2 from the current platooning vehicle group P1. The mileage that can maintain the platooning of the platooning vehicle groups P1 and P2 is longer than that of the general road because the motorway 300 is a single road from the exits A1 to B3. As a result, in the vehicle-to-vehicle distance control system 1 according to the present embodiment, the platooning of the own vehicle 2M can be extended for a long time, and the traveling with further reduced energy consumption can be performed.

In the above embodiment, in the platooning control device 27 of the own vehicle 2M, whether or not the platooning operation information of the other platooning vehicle group P2 is superior to the platooning operation information of the current platooning vehicle group P1. It was determined based on the travel route, but the present invention is not limited to this. The platooning control device 27 of the own vehicle 2M determines, for example, whether or not the destination points of the respective vehicles 2M constituting the other platooning vehicle group P2 match or are close to the destination point of the own vehicle 2M. You may decide whether or not it is superior. Further, in addition to comparing the expected distant coincidence point and the current distant coincidence point, the platooning control device 27 of the own vehicle 2M matches the resting points of the current platooning vehicle group P1 and the other platooning vehicle group P2. Whether or not the cruising speeds of the current platooning vehicle group P1 and other platooning vehicle group P2 match or are close, and the estimated arrival time at the destination based on the travel route of the own vehicle 2M, When joining another platooning vehicle group P2, one or more of matching or close to each other may be a condition for determining superiority.

1 Vehicle-to-vehicle distance control system 2 Vehicle 2M Own vehicle 2T Leading vehicle 21 Operation device 22 Vehicle traveling device 23 DCM (Vehicle-to-vehicle communication device)
24 Vehicle external sensor 25 GPS
26 Driving route information generator 27 Formation driving control device 28 Driver 100 Network
200 Server 300 Automobile-only road 301 Main line 302 Branch line A1 to B3 Exit L1 to L3 Lanes P1 and P2 Group of vehicles

Claims (2)

A vehicle traveling device that controls the traveling state of the own vehicle,
A vehicle-to-vehicle communication device that sends and receives information to and from surrounding vehicles,
A travel route information generator that generates travel route information from the departure point of the own vehicle to the registered destination point, and
A platooning control device that controls the vehicle traveling device so as to travel in a platoon with the adjacent vehicle based on at least the information of the vehicle adjacent to the own vehicle received by the vehicle-to-vehicle communication device. ,
Equipped with multiple vehicles with
Of the plurality of vehicles, at least one or more platooning vehicle group is composed of the plurality of vehicles whose travel route information matches at least halfway.
The platooning control device of one of the platooning vehicles is
The platooning operation information including the traveling route information in a plurality of the vehicles constituting the other platooning vehicle group existing on the road on which the own vehicle is currently traveling is acquired.
If it is determined that the acquired platooning operation information is superior to the platooning operation information of the current platooning vehicle group based on at least the traveling route information of the own vehicle, it is determined that the other platooning vehicle is superior. subscribed to the group, which performs row running control,
From the platooning operation information of the current platooning vehicle group, the farthest point in the traveling route in which the traveling route of another vehicle and the traveling route of the own vehicle match among the current platooning vehicle group. Judging the current distant coincidence point,
The farthest point among the travel routes in which the travel routes of a plurality of the vehicles of the other platoon traveling vehicle group and the travel route of the own vehicle match from the platoon travel operation information of the other platoon traveling vehicle group. Judging the expected distant coincidence point,
If it is determined that the expected distant coincidence point is farther than the present distant coincidence point, it is determined to join the other platooning vehicle group.
The vehicle-to-vehicle distance control system is characterized by this.
In the vehicle-to-vehicle distance control system according to claim 1,
The road is a motorway and is a motorway.
The travel route information includes an exit passing through the motorway.
Vehicle-to-vehicle distance control system.

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